無人搬送車の走行操舵特性の改善

抄録

Hunting reduction and travelling stabilization at high speed are required to improve the travelling characteristics of an unmanned delivery cart (AGV : Automatic Guided Vehicle), which is a component of modern FA system.
In this paper, the travelling behavior model of an AGV is developped considering the inertia force and cornering force of the wheels. Factors which affect on steering characteristics are examined through simulation with the developped model and experiments. Steering control scheme is considered via examining limit velocity for stable travelling and control system stability. Finally, required factors for an AGV to travel on a straight line at high speed are high accuracy detectors, high response steering system, and optimal steering gain.
In the experiment of the developped AGV with the forementioned control scheme, it was verified that the AGV can travel smoothly at 60 m/min with as little as ±16 mm amplitude and 3 sec. period hunting motion, which is less than the guiding tape width.